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robotic Robotic manipulator jacobianJacobian by product of exponentials

I've taken a class and started a thesis on robotics and my reference for calculating the jacobianJacobian by product of exponentials seems incorrect., see:

www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-completehttp://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf

specificallySpecifically the resulting jacobianJacobian matrix for the SCARA manipulator on page 118 would have us believe that the end effector translational velocity depends on joints 2 and 3 rather than 1 and 2. Please

Could someone please explain. me why?

robotic manipulator jacobian by product of exponentials

I've taken a class and started a thesis on robotics and my reference for calculating the jacobian by product of exponentials seems incorrect. see:

www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete

specifically the resulting jacobian matrix for the SCARA manipulator on page 118 would have us believe end effector translational velocity depends on joints 2 and 3 rather than 1 and 2. Please explain.

Robotic manipulator Jacobian by product of exponentials

I've taken a class and started a thesis on robotics and my reference for calculating the Jacobian by product of exponentials seems incorrect, see:

http://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf

Specifically the resulting Jacobian matrix for the SCARA manipulator on page 118 would have us believe that the end effector translational velocity depends on joints 2 and 3 rather than 1 and 2.

Could someone please explain me why?

1
source | link

robotic manipulator jacobian by product of exponentials

I've taken a class and started a thesis on robotics and my reference for calculating the jacobian by product of exponentials seems incorrect. see:

www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete

specifically the resulting jacobian matrix for the SCARA manipulator on page 118 would have us believe end effector translational velocity depends on joints 2 and 3 rather than 1 and 2. Please explain.